EP 1294285 B1 20140806 - GUIDED TOOL CHANGE
Title (en)
GUIDED TOOL CHANGE
Title (de)
WECHSELVERFAHREN FÜR GEFÜHRTES WERKZEUG
Title (fr)
PROCEDE DE REMPLACEMENT GUIDE D'UN INSTRUMENT
Publication
Application
Priority
- US 0119276 W 20010615
- US 59577700 A 20000616
Abstract (en)
[origin: WO0197694A1] A guided tool change procedure is employed in minimally invasive robotic surgery to guide a new tool quickly and precisely, after a tool change operation, back into close proximity to the operating position of the original tool prior to its removal from the surgical site. A first robotic surgical tool (500) is placed at an operating position inside the cavity using a slave manipulator (530) disposed outside the cavity, and the operating position is recorded. The first robotic surgical tool (500) is decoupled from the slave manipulator (530) and removed from the cavity. A second robotic surgical tool (510) is introduced into the cavity based on the recorded operating position, a target space is derived for placing the distal end of the second robotic surgical tool (510) in close proximity to the location of the distal end of the first robotic surgical tool (500) in the operating position prior to its removal from the cavity. A controller (534) is provided to control the slave manipulator (530) to guide the distal end of the second robotic surgical tool (510), during insertion of the second tool (510), to a location within the target space.
IPC 8 full level
A61B 19/00 (2006.01)
CPC (source: EP US)
A61B 34/37 (2016.02 - EP US); A61B 34/70 (2016.02 - EP US); A61B 34/71 (2016.02 - EP US); B25J 9/1664 (2013.01 - EP US); B25J 9/1689 (2013.01 - EP US); A61B 2034/742 (2016.02 - EP US)
Designated contracting state (EPC)
AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE TR
DOCDB simple family (publication)
WO 0197694 A1 20011227; EP 1294285 A1 20030326; EP 1294285 A4 20090930; EP 1294285 B1 20140806; EP 2471484 A2 20120704; EP 2471484 A3 20150325; US 6645196 B1 20031111
DOCDB simple family (application)
US 0119276 W 20010615; EP 01950310 A 20010615; EP 12162128 A 20010615; US 59577700 A 20000616